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<div class="title">PxQuat.h</div>  </div>
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<a href="PxQuat_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// are met:</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">//  * Redistributions of source code must retain the above copyright</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">//    notice, this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">//  * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//    notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">//    documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//  * Neither the name of NVIDIA CORPORATION nor the names of its</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">//    contributors may be used to endorse or promote products derived</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//    from this software without specific prior written permission.</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS &#39;&#39;AS IS&#39;&#39; AND ANY</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#ifndef PXFOUNDATION_PXQUAT_H</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#define PXFOUNDATION_PXQUAT_H</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxVec3_8h.html">foundation/PxVec3.h</a>&quot;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacephysx.html">physx</a></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;{</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classPxQuat.html">   49</a></span>&#160;<span class="keyword">class </span><a class="code" href="classPxQuat.html">PxQuat</a></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">public</span>:</div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classPxQuat.html#afac7f63b57840965157cf720bb6faddc">   55</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxQuat.html#afac7f63b57840965157cf720bb6faddc">PxQuat</a>()</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    {</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    }</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classPxQuat.html#a13d4cf835204d37e90fecef45659c790">   60</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxQuat.html#a13d4cf835204d37e90fecef45659c790">PxQuat</a>(<a class="code" href="group__foundation.html#ga70160ca5bbafef277790b3e0f12baf38">PxIDENTITY</a> r) : x(0.0f), y(0.0f), z(0.0f), w(1.0f)</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    {</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <a class="code" href="group__foundation.html#ga9727af514012bc32f852e20278a7b04e">PX_UNUSED</a>(r);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    }</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classPxQuat.html#ab364d7ce854065cd32b2dbbd8d30e279">   68</a></span>&#160;    <span class="keyword">explicit</span> <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxQuat.html#ab364d7ce854065cd32b2dbbd8d30e279">PxQuat</a>(<span class="keywordtype">float</span> r) : x(0.0f), y(0.0f), z(0.0f), w(r)</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    {</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    }</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classPxQuat.html#affc77743ed2c2cd3a90749de917187b0">   75</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxQuat.html#affc77743ed2c2cd3a90749de917187b0">PxQuat</a>(<span class="keywordtype">float</span> nx, <span class="keywordtype">float</span> ny, <span class="keywordtype">float</span> nz, <span class="keywordtype">float</span> nw) : x(nx), y(ny), z(nz), w(nw)</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    {</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    }</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classPxQuat.html#a96cdb8dff7a2ed40a71912edf19dd812">   88</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxQuat.html#a96cdb8dff7a2ed40a71912edf19dd812">PxQuat</a>(<span class="keywordtype">float</span> angleRadians, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; unitAxis)</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    {</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <a class="code" href="group__foundation.html#ga07ffc52cd4afa8e797a5fe6e1cb7e17a">PX_SHARED_ASSERT</a>(<a class="code" href="group__foundation.html#gaf72e1dce9e874da7b92cbc0ea5e4e30d">PxAbs</a>(1.0f - unitAxis.<a class="code" href="classPxVec3.html#a5f7512ff35bdf6f8f5cff4dbdd1bcdd0">magnitude</a>()) &lt; 1e-3f);</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> a = angleRadians * 0.5f;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> s = <a class="code" href="group__foundation.html#ga98f571cc01fc3aa0e73e215c27ab8069">PxSin</a>(a);</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        w = <a class="code" href="group__foundation.html#gacc501523ad3ab46c5a061c4442d10fcf">PxCos</a>(a);</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        x = unitAxis.<a class="code" href="classPxVec3.html#a391194bca8291161c06254f4ac2b6ada">x</a> * s;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        y = unitAxis.<a class="code" href="classPxVec3.html#a29958700f50da2204edc519b47706a05">y</a> * s;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        z = unitAxis.<a class="code" href="classPxVec3.html#a50d67b162b99b904c3f362ad0415dbca">z</a> * s;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    }</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classPxQuat.html#ae12a02d9cb43b5e2c7dc083563cf1586">  102</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxQuat.html#ae12a02d9cb43b5e2c7dc083563cf1586">PxQuat</a>(<span class="keyword">const</span> <a class="code" href="classPxQuat.html">PxQuat</a>&amp; v) : x(v.x), y(v.y), z(v.z), w(v.w)</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    {</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    }</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <span class="keyword">explicit</span> <a class="code" href="classPxQuat.html">PxQuat</a>(<span class="keyword">const</span> <a class="code" href="classPxMat33.html">PxMat33</a>&amp; m); <span class="comment">/* defined in PxMat33.h */</span></div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div><div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classPxQuat.html#a50b0642427a4315f14657d15094d35b2">  116</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">bool</span> <a class="code" href="classPxQuat.html#a50b0642427a4315f14657d15094d35b2">isIdentity</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="keywordflow">return</span> x==0.0f &amp;&amp; y==0.0f &amp;&amp; z==0.0f &amp;&amp; w==1.0f;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    }</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classPxQuat.html#a1c665c57310b414f973f7d90d6b89c2a">  124</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <span class="keywordtype">bool</span> <a class="code" href="classPxQuat.html#a1c665c57310b414f973f7d90d6b89c2a">isFinite</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite</a>(x) &amp;&amp; <a class="code" href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite</a>(y) &amp;&amp; <a class="code" href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite</a>(z) &amp;&amp; <a class="code" href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite</a>(w);</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    }</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div><div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classPxQuat.html#a35ac53818eeab314fc2888542b969544">  132</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <span class="keywordtype">bool</span> <a class="code" href="classPxQuat.html#a35ac53818eeab314fc2888542b969544">isUnit</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> unitTolerance = 1e-4f;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="namespacephysx_1_1intrinsics.html#a28bd12477f3ca0b092c0b9b61bdfaf04">isFinite</a>() &amp;&amp; <a class="code" href="group__foundation.html#gaf72e1dce9e874da7b92cbc0ea5e4e30d">PxAbs</a>(magnitude() - 1) &lt; unitTolerance;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    }</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classPxQuat.html#a9ae073fbc5614a4698087370ce591567">  142</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <span class="keywordtype">bool</span> <a class="code" href="classPxQuat.html#a9ae073fbc5614a4698087370ce591567">isSane</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> unitTolerance = 1e-2f;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="namespacephysx_1_1intrinsics.html#a28bd12477f3ca0b092c0b9b61bdfaf04">isFinite</a>() &amp;&amp; <a class="code" href="group__foundation.html#gaf72e1dce9e874da7b92cbc0ea5e4e30d">PxAbs</a>(magnitude() - 1) &lt; unitTolerance;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    }</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;</div><div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classPxQuat.html#af03e9e7917ffe907effa610f7d314fa5">  151</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <span class="keywordtype">bool</span> <a class="code" href="classPxQuat.html#af03e9e7917ffe907effa610f7d314fa5">operator==</a>(<span class="keyword">const</span> <a class="code" href="classPxQuat.html">PxQuat</a>&amp; q)<span class="keyword"> const</span></div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <span class="keywordflow">return</span> x == q.<a class="code" href="classPxQuat.html#ac7275be0f2d9162cff34b2d43f2ab179">x</a> &amp;&amp; y == q.<a class="code" href="classPxQuat.html#a0988cef7bc3fbdcd8cf37974c5edd611">y</a> &amp;&amp; z == q.<a class="code" href="classPxQuat.html#a6773bfd82393a8dde22ddef5f0900d06">z</a> &amp;&amp; w == q.<a class="code" href="classPxQuat.html#a84fb33d995ed4e6a26ac3f22523f0b54">w</a>;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    }</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;</div><div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classPxQuat.html#a89bd359f188b7d164be0d5f1caf0745f">  159</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <span class="keywordtype">void</span> <a class="code" href="classPxQuat.html#a89bd359f188b7d164be0d5f1caf0745f">toRadiansAndUnitAxis</a>(<span class="keywordtype">float</span>&amp; angle, <a class="code" href="classPxVec3.html">PxVec3</a>&amp; axis)<span class="keyword"> const</span></div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> quatEpsilon = 1.0e-8f;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> s2 = x * x + y * y + z * z;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; 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           axis = <a class="code" href="classPxVec3.html">PxVec3</a>(x, y, z) * s;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;            angle = <a class="code" href="group__foundation.html#gaf72e1dce9e874da7b92cbc0ea5e4e30d">PxAbs</a>(w) &lt; quatEpsilon ? <a class="code" href="group__foundation.html#gabcd49a429b8119de54375b3538ae8a8d">PxPi</a> : <a class="code" href="group__foundation.html#ga3b820cf45fee058a4083d955daa02154">PxAtan2</a>(s2 * s, w) * 2.0f;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        }</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    }</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;</div><div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="classPxQuat.html#ae3b0197aa605d5eca6c0d8af9ad4a473">  181</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <span class="keywordtype">float</span> <a class="code" href="classPxQuat.html#ae3b0197aa605d5eca6c0d8af9ad4a473">getAngle</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; 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       <span class="keyword">const</span> <span class="keywordtype">float</span> s = 1.0f / magnitude();</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classPxQuat.html">PxQuat</a>(x * s, y * s, z * s, w * s);</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    }</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;</div><div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classPxQuat.html#a604f79ac9821d365d601242331a80e11">  218</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <span class="keywordtype">float</span> <a class="code" href="classPxQuat.html#a604f79ac9821d365d601242331a80e11">magnitude</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; 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           w *= imag;</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        }</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        <span class="keywordflow">return</span> mag;</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    }</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="comment">/*</span></div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;<span class="comment">    \brief returns the conjugate.</span></div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;<span class="comment">    \note for unit quaternions, this is the inverse.</span></div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;<span class="comment">    */</span></div><div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="classPxQuat.html#a955317d16f9eeb450c4d37d3d8a3f638">  247</a></span>&#160; 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v)<span class="keyword"> const</span></div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> vx = 2.0f * v.<a class="code" href="classPxVec3.html#a391194bca8291161c06254f4ac2b6ada">x</a>;</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> vy = 2.0f * v.<a class="code" href="classPxVec3.html#a29958700f50da2204edc519b47706a05">y</a>;</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> vz = 2.0f * v.<a class="code" href="classPxVec3.html#a50d67b162b99b904c3f362ad0415dbca">z</a>;</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; 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                     w * q.<a class="code" href="classPxQuat.html#a6773bfd82393a8dde22ddef5f0900d06">z</a> + q.<a class="code" href="classPxQuat.html#a84fb33d995ed4e6a26ac3f22523f0b54">w</a> * z + x * q.<a class="code" href="classPxQuat.html#a0988cef7bc3fbdcd8cf37974c5edd611">y</a> - q.<a class="code" href="classPxQuat.html#ac7275be0f2d9162cff34b2d43f2ab179">x</a> * y, w * q.<a class="code" href="classPxQuat.html#a84fb33d995ed4e6a26ac3f22523f0b54">w</a> - x * q.<a class="code" href="classPxQuat.html#ac7275be0f2d9162cff34b2d43f2ab179">x</a> - y * q.<a class="code" href="classPxQuat.html#a0988cef7bc3fbdcd8cf37974c5edd611">y</a> - z * q.<a class="code" href="classPxQuat.html#a6773bfd82393a8dde22ddef5f0900d06">z</a>);</div><div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;    }</div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;</div><div class="line"><a name="l00373"></a><span class="lineno"><a class="line" href="classPxQuat.html#a57313933342c7d62c53ae48543d8c1e3">  373</a></span>&#160; 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   }</div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;</div><div class="line"><a name="l00379"></a><span class="lineno"><a class="line" href="classPxQuat.html#af0c6a6ccadc858a504d9efb9d516ddbc">  379</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxQuat.html">PxQuat</a> <a class="code" href="classPxQuat.html#af0c6a6ccadc858a504d9efb9d516ddbc">operator-</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classPxQuat.html">PxQuat</a>(-x, -y, -z, -w);</div><div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160; 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   }</div><div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;</div><div class="line"><a name="l00389"></a><span class="lineno"><a class="line" href="classPxQuat.html#a76203602f99b2d3cac069e2fe239daff">  389</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxQuat.html">PxQuat</a> <a class="code" href="classPxQuat.html#a76203602f99b2d3cac069e2fe239daff">operator*</a>(<span class="keywordtype">float</span> r)<span class="keyword"> const</span></div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classPxQuat.html">PxQuat</a>(x * r, y * r, z * r, w * r);</div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160; 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<div class="ttc" id="classPxQuat_html_a74371f064482934e99ed623e7279d927"><div class="ttname"><a href="classPxQuat.html#a74371f064482934e99ed623e7279d927">PxQuat::magnitudeSquared</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float magnitudeSquared() const</div><div class="ttdoc">This is the squared 4D vector length, should be 1 for unit quaternions. </div><div class="ttdef"><b>Definition:</b> PxQuat.h:199</div></div>
<div class="ttc" id="classPxQuat_html_a9ae073fbc5614a4698087370ce591567"><div class="ttname"><a href="classPxQuat.html#a9ae073fbc5614a4698087370ce591567">PxQuat::isSane</a></div><div class="ttdeci">PX_CUDA_CALLABLE bool isSane() const</div><div class="ttdoc">returns true if finite and magnitude is reasonably close to unit to allow for some accumulation of er...</div><div class="ttdef"><b>Definition:</b> PxQuat.h:142</div></div>
<div class="ttc" id="classPxQuat_html_a955317d16f9eeb450c4d37d3d8a3f638"><div class="ttname"><a href="classPxQuat.html#a955317d16f9eeb450c4d37d3d8a3f638">PxQuat::getConjugate</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE PxQuat getConjugate() const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:247</div></div>
<div class="ttc" id="classPxQuat_html_a06c67f76789048d93e5119e2ef7b9451"><div class="ttname"><a href="classPxQuat.html#a06c67f76789048d93e5119e2ef7b9451">PxQuat::operator*=</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat &amp; operator*=(const PxQuat &amp;q)</div><div class="ttdef"><b>Definition:</b> PxQuat.h:324</div></div>
<div class="ttc" id="classPxQuat_html_a35d16e1cc27f7dbf1de1910bc846d5e4"><div class="ttname"><a href="classPxQuat.html#a35d16e1cc27f7dbf1de1910bc846d5e4">PxQuat::dot</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float dot(const PxQuat &amp;v) const</div><div class="ttdoc">returns the scalar product of this and other. </div><div class="ttdef"><b>Definition:</b> PxQuat.h:207</div></div>
<div class="ttc" id="classPxQuat_html_ae3b0197aa605d5eca6c0d8af9ad4a473"><div class="ttname"><a href="classPxQuat.html#ae3b0197aa605d5eca6c0d8af9ad4a473">PxQuat::getAngle</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE float getAngle() const</div><div class="ttdoc">Gets the angle between this quat and the identity quaternion. </div><div class="ttdef"><b>Definition:</b> PxQuat.h:181</div></div>
<div class="ttc" id="classPxQuat_html_a293e12f666d5877f0de4b230f119a125"><div class="ttname"><a href="classPxQuat.html#a293e12f666d5877f0de4b230f119a125">PxQuat::operator*=</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat &amp; operator*=(const float s)</div><div class="ttdef"><b>Definition:</b> PxQuat.h:356</div></div>
<div class="ttc" id="group__foundation_html_ga3b820cf45fee058a4083d955daa02154"><div class="ttname"><a href="group__foundation.html#ga3b820cf45fee058a4083d955daa02154">PxAtan2</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float PxAtan2(float x, float y)</div><div class="ttdoc">Arctangent of (x/y) with correct sign. Returns angle between -PI and PI in radians Unit: Radians...</div><div class="ttdef"><b>Definition:</b> PxMath.h:276</div></div>
<div class="ttc" id="classPxQuat_html_a00e4863332f965bb73a8849718062677"><div class="ttname"><a href="classPxQuat.html#a00e4863332f965bb73a8849718062677">PxQuat::operator-=</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat &amp; operator-=(const PxQuat &amp;q)</div><div class="ttdef"><b>Definition:</b> PxQuat.h:347</div></div>
<div class="ttc" id="classPxQuat_html_aa471a180b8a6cd36272d6af18a0da8bc"><div class="ttname"><a href="classPxQuat.html#aa471a180b8a6cd36272d6af18a0da8bc">PxQuat::getBasisVector0</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getBasisVector0() const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:261</div></div>
<div class="ttc" id="classPxQuat_html_a82d800b83a6071b68603a2ec0927f4d7"><div class="ttname"><a href="classPxQuat.html#a82d800b83a6071b68603a2ec0927f4d7">PxQuat::operator*</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE PxQuat operator*(const PxQuat &amp;q) const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:366</div></div>
<div class="ttc" id="group__foundation_html_gabcd49a429b8119de54375b3538ae8a8d"><div class="ttname"><a href="group__foundation.html#gabcd49a429b8119de54375b3538ae8a8d">PxPi</a></div><div class="ttdeci">static const float PxPi</div><div class="ttdef"><b>Definition:</b> PxMath.h:58</div></div>
<div class="ttc" id="classPxQuat_html_a57313933342c7d62c53ae48543d8c1e3"><div class="ttname"><a href="classPxQuat.html#a57313933342c7d62c53ae48543d8c1e3">PxQuat::operator+</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat operator+(const PxQuat &amp;q) const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:373</div></div>
<div class="ttc" id="classPxQuat_html_a604f79ac9821d365d601242331a80e11"><div class="ttname"><a href="classPxQuat.html#a604f79ac9821d365d601242331a80e11">PxQuat::magnitude</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE float magnitude() const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:218</div></div>
<div class="ttc" id="group__foundation_html_ga6a774eed3cad34b0f636332a3d28c6bb"><div class="ttname"><a href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a></div><div class="ttdeci">#define PX_FORCE_INLINE</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:351</div></div>
<div class="ttc" id="classPxQuat_html"><div class="ttname"><a href="classPxQuat.html">PxQuat</a></div><div class="ttdoc">This is a quaternion class. For more information on quaternion mathematics consult a mathematics sour...</div><div class="ttdef"><b>Definition:</b> PxQuat.h:49</div></div>
<div class="ttc" id="group__foundation_html_ga98f571cc01fc3aa0e73e215c27ab8069"><div class="ttname"><a href="group__foundation.html#ga98f571cc01fc3aa0e73e215c27ab8069">PxSin</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float PxSin(float a)</div><div class="ttdoc">trigonometry – all angles are in radians. </div><div class="ttdef"><b>Definition:</b> PxMath.h:170</div></div>
<div class="ttc" id="classPxQuat_html_a5bf50eefab13fb4b9a3967324d688636"><div class="ttname"><a href="classPxQuat.html#a5bf50eefab13fb4b9a3967324d688636">PxQuat::getBasisVector2</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getBasisVector2() const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:277</div></div>
<div class="ttc" id="group__foundation_html_ga07ffc52cd4afa8e797a5fe6e1cb7e17a"><div class="ttname"><a href="group__foundation.html#ga07ffc52cd4afa8e797a5fe6e1cb7e17a">PX_SHARED_ASSERT</a></div><div class="ttdeci">#define PX_SHARED_ASSERT(exp)</div><div class="ttdef"><b>Definition:</b> PxSharedAssert.h:39</div></div>
<div class="ttc" id="classPxQuat_html_a6773bfd82393a8dde22ddef5f0900d06"><div class="ttname"><a href="classPxQuat.html#a6773bfd82393a8dde22ddef5f0900d06">PxQuat::z</a></div><div class="ttdeci">float z</div><div class="ttdef"><b>Definition:</b> PxQuat.h:395</div></div>
<div class="ttc" id="namespacephysx_1_1intrinsics_html_a28bd12477f3ca0b092c0b9b61bdfaf04"><div class="ttname"><a href="namespacephysx_1_1intrinsics.html#a28bd12477f3ca0b092c0b9b61bdfaf04">physx::intrinsics::isFinite</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE bool isFinite(float a)</div><div class="ttdoc">platform-specific finiteness check (not INF or NAN) </div><div class="ttdef"><b>Definition:</b> PxUnixIntrinsics.h:127</div></div>
<div class="ttc" id="classPxQuat_html_a896c206afb4301300e5361a1cc2a3b24"><div class="ttname"><a href="classPxQuat.html#a896c206afb4301300e5361a1cc2a3b24">PxQuat::getBasisVector1</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getBasisVector1() const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:269</div></div>
<div class="ttc" id="group__foundation_html_ga11d5e4e77acad728886b380b5f3806f0"><div class="ttname"><a href="group__foundation.html#ga11d5e4e77acad728886b380b5f3806f0">PxSqrt</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float PxSqrt(float a)</div><div class="ttdoc">Square root. </div><div class="ttdef"><b>Definition:</b> PxMath.h:144</div></div>
<div class="ttc" id="classPxQuat_html_a77a42662202126a13f2f9fc12013fe70"><div class="ttname"><a href="classPxQuat.html#a77a42662202126a13f2f9fc12013fe70">PxQuat::normalize</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE float normalize()</div><div class="ttdoc">maps to the closest unit quaternion. </div><div class="ttdef"><b>Definition:</b> PxQuat.h:227</div></div>
<div class="ttc" id="classPxVec3_html_a29958700f50da2204edc519b47706a05"><div class="ttname"><a href="classPxVec3.html#a29958700f50da2204edc519b47706a05">PxVec3::y</a></div><div class="ttdeci">float y</div><div class="ttdef"><b>Definition:</b> PxVec3.h:381</div></div>
<div class="ttc" id="classPxQuat_html_a84fb33d995ed4e6a26ac3f22523f0b54"><div class="ttname"><a href="classPxQuat.html#a84fb33d995ed4e6a26ac3f22523f0b54">PxQuat::w</a></div><div class="ttdeci">float w</div><div class="ttdef"><b>Definition:</b> PxQuat.h:395</div></div>
<div class="ttc" id="classPxQuat_html_ac7275be0f2d9162cff34b2d43f2ab179"><div class="ttname"><a href="classPxQuat.html#ac7275be0f2d9162cff34b2d43f2ab179">PxQuat::x</a></div><div class="ttdeci">float x</div><div class="ttdef"><b>Definition:</b> PxQuat.h:395</div></div>
<div class="ttc" id="classPxQuat_html_a76203602f99b2d3cac069e2fe239daff"><div class="ttname"><a href="classPxQuat.html#a76203602f99b2d3cac069e2fe239daff">PxQuat::operator*</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat operator*(float r) const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:389</div></div>
<div class="ttc" id="group__foundation_html_gacd945627f345ba03e83a30387ab99dea"><div class="ttname"><a href="group__foundation.html#gacd945627f345ba03e83a30387ab99dea">PxRecipSqrt</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float PxRecipSqrt(float a)</div><div class="ttdoc">reciprocal square root. </div><div class="ttdef"><b>Definition:</b> PxMath.h:156</div></div>
<div class="ttc" id="group__foundation_html_gacc501523ad3ab46c5a061c4442d10fcf"><div class="ttname"><a href="group__foundation.html#gacc501523ad3ab46c5a061c4442d10fcf">PxCos</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float PxCos(float a)</div><div class="ttdoc">Cosine of an angle (Unit: Radians) </div><div class="ttdef"><b>Definition:</b> PxMath.h:182</div></div>
<div class="ttc" id="classPxQuat_html_affc77743ed2c2cd3a90749de917187b0"><div class="ttname"><a href="classPxQuat.html#affc77743ed2c2cd3a90749de917187b0">PxQuat::PxQuat</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat(float nx, float ny, float nz, float nw)</div><div class="ttdoc">Constructor. Take note of the order of the elements! </div><div class="ttdef"><b>Definition:</b> PxQuat.h:75</div></div>
<div class="ttc" id="classPxQuat_html_ab364d7ce854065cd32b2dbbd8d30e279"><div class="ttname"><a href="classPxQuat.html#ab364d7ce854065cd32b2dbbd8d30e279">PxQuat::PxQuat</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat(float r)</div><div class="ttdoc">Constructor from a scalar: sets the real part w to the scalar value, and the imaginary parts (x...</div><div class="ttdef"><b>Definition:</b> PxQuat.h:68</div></div>
<div class="ttc" id="classPxQuat_html_a89bd359f188b7d164be0d5f1caf0745f"><div class="ttname"><a href="classPxQuat.html#a89bd359f188b7d164be0d5f1caf0745f">PxQuat::toRadiansAndUnitAxis</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE void toRadiansAndUnitAxis(float &amp;angle, PxVec3 &amp;axis) const</div><div class="ttdoc">converts this quaternion to angle-axis representation </div><div class="ttdef"><b>Definition:</b> PxQuat.h:159</div></div>
<div class="ttc" id="classPxVec3_html_a5f7512ff35bdf6f8f5cff4dbdd1bcdd0"><div class="ttname"><a href="classPxVec3.html#a5f7512ff35bdf6f8f5cff4dbdd1bcdd0">PxVec3::magnitude</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float magnitude() const</div><div class="ttdoc">returns the magnitude </div><div class="ttdef"><b>Definition:</b> PxVec3.h:183</div></div>
<div class="ttc" id="group__foundation_html_gaf72e1dce9e874da7b92cbc0ea5e4e30d"><div class="ttname"><a href="group__foundation.html#gaf72e1dce9e874da7b92cbc0ea5e4e30d">PxAbs</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float PxAbs(float a)</div><div class="ttdoc">abs returns the absolute value of its argument. </div><div class="ttdef"><b>Definition:</b> PxMath.h:107</div></div>
<div class="ttc" id="classPxQuat_html_afac7f63b57840965157cf720bb6faddc"><div class="ttname"><a href="classPxQuat.html#afac7f63b57840965157cf720bb6faddc">PxQuat::PxQuat</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat()</div><div class="ttdoc">Default constructor, does not do any initialization. </div><div class="ttdef"><b>Definition:</b> PxQuat.h:55</div></div>
<div class="ttc" id="classPxQuat_html_a35ac53818eeab314fc2888542b969544"><div class="ttname"><a href="classPxQuat.html#a35ac53818eeab314fc2888542b969544">PxQuat::isUnit</a></div><div class="ttdeci">PX_CUDA_CALLABLE bool isUnit() const</div><div class="ttdoc">returns true if finite and magnitude is close to unit </div><div class="ttdef"><b>Definition:</b> PxQuat.h:132</div></div>
<div class="ttc" id="classPxQuat_html_a8ba7d546fb84bd2628887c998bcadf9d"><div class="ttname"><a href="classPxQuat.html#a8ba7d546fb84bd2628887c998bcadf9d">PxQuat::getNormalized</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE PxQuat getNormalized() const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:212</div></div>
<div class="ttc" id="classPxQuat_html_a39039c4e100d0a1f928a8b9cd806df0c"><div class="ttname"><a href="classPxQuat.html#a39039c4e100d0a1f928a8b9cd806df0c">PxQuat::getAngle</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE float getAngle(const PxQuat &amp;q) const</div><div class="ttdoc">Gets the angle between this quat and the argument. </div><div class="ttdef"><b>Definition:</b> PxQuat.h:191</div></div>
<div class="ttc" id="classPxQuat_html_a84fc51682333705ddf6b604727a84289"><div class="ttname"><a href="classPxQuat.html#a84fc51682333705ddf6b604727a84289">PxQuat::getImaginaryPart</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE PxVec3 getImaginaryPart() const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:255</div></div>
<div class="ttc" id="classPxMat33_html"><div class="ttname"><a href="classPxMat33.html">PxMat33</a></div><div class="ttdoc">3x3 matrix class </div><div class="ttdef"><b>Definition:</b> PxMat33.h:90</div></div>
<div class="ttc" id="group__foundation_html_ga9727af514012bc32f852e20278a7b04e"><div class="ttname"><a href="group__foundation.html#ga9727af514012bc32f852e20278a7b04e">PX_UNUSED</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE void PX_UNUSED(T const &amp;)</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:466</div></div>
<div class="ttc" id="PxVec3_8h_html"><div class="ttname"><a href="PxVec3_8h.html">PxVec3.h</a></div></div>
<div class="ttc" id="group__foundation_html_gad6de0f4af98c5c5280b8fe695dc87318"><div class="ttname"><a href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxIsFinite(float f)</div><div class="ttdoc">returns true if the passed number is a finite floating point number as opposed to INF...</div><div class="ttdef"><b>Definition:</b> PxMath.h:292</div></div>
<div class="ttc" id="classPxQuat_html_af03e9e7917ffe907effa610f7d314fa5"><div class="ttname"><a href="classPxQuat.html#af03e9e7917ffe907effa610f7d314fa5">PxQuat::operator==</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxQuat &amp;q) const</div><div class="ttdoc">returns true if the two quaternions are exactly equal </div><div class="ttdef"><b>Definition:</b> PxQuat.h:151</div></div>
<div class="ttc" id="classPxQuat_html_ae12a02d9cb43b5e2c7dc083563cf1586"><div class="ttname"><a href="classPxQuat.html#ae12a02d9cb43b5e2c7dc083563cf1586">PxQuat::PxQuat</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat(const PxQuat &amp;v)</div><div class="ttdoc">Copy ctor. </div><div class="ttdef"><b>Definition:</b> PxQuat.h:102</div></div>
<div class="ttc" id="classPxQuat_html_a0988cef7bc3fbdcd8cf37974c5edd611"><div class="ttname"><a href="classPxQuat.html#a0988cef7bc3fbdcd8cf37974c5edd611">PxQuat::y</a></div><div class="ttdeci">float y</div><div class="ttdef"><b>Definition:</b> PxQuat.h:395</div></div>
<div class="ttc" id="classPxQuat_html_a96cdb8dff7a2ed40a71912edf19dd812"><div class="ttname"><a href="classPxQuat.html#a96cdb8dff7a2ed40a71912edf19dd812">PxQuat::PxQuat</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE PxQuat(float angleRadians, const PxVec3 &amp;unitAxis)</div><div class="ttdoc">Creates from angle-axis representation. </div><div class="ttdef"><b>Definition:</b> PxQuat.h:88</div></div>
<div class="ttc" id="classPxQuat_html_a2bafc323c17556f69e17ffccdd127dd1"><div class="ttname"><a href="classPxQuat.html#a2bafc323c17556f69e17ffccdd127dd1">PxQuat::rotate</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3 rotate(const PxVec3 &amp;v) const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:287</div></div>
<div class="ttc" id="classPxQuat_html_a728c5347a5b1ac288bc35c412fe825c6"><div class="ttname"><a href="classPxQuat.html#a728c5347a5b1ac288bc35c412fe825c6">PxQuat::operator-</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat operator-(const PxQuat &amp;q) const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:384</div></div>
<div class="ttc" id="classPxQuat_html_a2ab2f7c410b2dfeedf984d9c29264c10"><div class="ttname"><a href="classPxQuat.html#a2ab2f7c410b2dfeedf984d9c29264c10">PxQuat::operator+=</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat &amp; operator+=(const PxQuat &amp;q)</div><div class="ttdef"><b>Definition:</b> PxQuat.h:338</div></div>
<div class="ttc" id="group__foundation_html_ga70160ca5bbafef277790b3e0f12baf38"><div class="ttname"><a href="group__foundation.html#ga70160ca5bbafef277790b3e0f12baf38">PxIDENTITY</a></div><div class="ttdeci">PxIDENTITY</div><div class="ttdef"><b>Definition:</b> Px.h:82</div></div>
<div class="ttc" id="classPxQuat_html_a13d4cf835204d37e90fecef45659c790"><div class="ttname"><a href="classPxQuat.html#a13d4cf835204d37e90fecef45659c790">PxQuat::PxQuat</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE PxQuat(PxIDENTITY r)</div><div class="ttdoc">identity constructor </div><div class="ttdef"><b>Definition:</b> PxQuat.h:60</div></div>
<div class="ttc" id="classPxQuat_html_a1c665c57310b414f973f7d90d6b89c2a"><div class="ttname"><a href="classPxQuat.html#a1c665c57310b414f973f7d90d6b89c2a">PxQuat::isFinite</a></div><div class="ttdeci">PX_CUDA_CALLABLE bool isFinite() const</div><div class="ttdoc">returns true if all elements are finite (not NAN or INF, etc.) </div><div class="ttdef"><b>Definition:</b> PxQuat.h:124</div></div>
<div class="ttc" id="classPxQuat_html_a50b0642427a4315f14657d15094d35b2"><div class="ttname"><a href="classPxQuat.html#a50b0642427a4315f14657d15094d35b2">PxQuat::isIdentity</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE bool isIdentity() const</div><div class="ttdoc">returns true if quat is identity </div><div class="ttdef"><b>Definition:</b> PxQuat.h:116</div></div>
<div class="ttc" id="classPxQuat_html_a3f2432f5a2682489eb889ea178f364be"><div class="ttname"><a href="classPxQuat.html#a3f2432f5a2682489eb889ea178f364be">PxQuat::rotateInv</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3 rotateInv(const PxVec3 &amp;v) const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:301</div></div>
<div class="ttc" id="group__foundation_html_ga0953977efc7599071aefadc35e842f97"><div class="ttname"><a href="group__foundation.html#ga0953977efc7599071aefadc35e842f97">PxAcos</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float PxAcos(float f)</div><div class="ttdoc">Arccosine. Returns angle between 0 and PI in radians Unit: Radians. </div><div class="ttdef"><b>Definition:</b> PxMath.h:236</div></div>
<div class="ttc" id="classPxVec3_html_a50d67b162b99b904c3f362ad0415dbca"><div class="ttname"><a href="classPxVec3.html#a50d67b162b99b904c3f362ad0415dbca">PxVec3::z</a></div><div class="ttdeci">float z</div><div class="ttdef"><b>Definition:</b> PxVec3.h:381</div></div>
<div class="ttc" id="classPxQuat_html_a4f3ea9ae559903398b3c973458a6aa11"><div class="ttname"><a href="classPxQuat.html#a4f3ea9ae559903398b3c973458a6aa11">PxQuat::operator=</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat &amp; operator=(const PxQuat &amp;p)</div><div class="ttdoc">Assignment operator. </div><div class="ttdef"><b>Definition:</b> PxQuat.h:315</div></div>
<div class="ttc" id="group__foundation_html_gacb03347b642a2a5bdea1f9b305a6fbec"><div class="ttname"><a href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a></div><div class="ttdeci">#define PX_INLINE</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:336</div></div>
<div class="ttc" id="classPxQuat_html_af0c6a6ccadc858a504d9efb9d516ddbc"><div class="ttname"><a href="classPxQuat.html#af0c6a6ccadc858a504d9efb9d516ddbc">PxQuat::operator-</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat operator-() const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:379</div></div>
<div class="ttc" id="group__foundation_html_ga6e444d58dbf1459261fadc9b79594f63"><div class="ttname"><a href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a></div><div class="ttdeci">#define PX_CUDA_CALLABLE</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:460</div></div>
<div class="ttc" id="classPxVec3_html"><div class="ttname"><a href="classPxVec3.html">PxVec3</a></div><div class="ttdoc">3 Element vector class. </div><div class="ttdef"><b>Definition:</b> PxVec3.h:49</div></div>
<div class="ttc" id="classPxVec3_html_a391194bca8291161c06254f4ac2b6ada"><div class="ttname"><a href="classPxVec3.html#a391194bca8291161c06254f4ac2b6ada">PxVec3::x</a></div><div class="ttdeci">float x</div><div class="ttdef"><b>Definition:</b> PxVec3.h:381</div></div>
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